Method for Estimating Coefficient of Friction of a Hydraulic Brake System

ABSTRACT

A system and a method for estimating the coefficient of friction of a hydraulic brake system with axle-individual pressure buildup of a motor vehicle. In addition, a system and to a method for setting the target braking torque of a hydraulic braking system with axle-individual buildup of a motor vehicle in order to obtain a desired actual braking torque.

FIELD

The invention relates to a system and a method for estimating thecoefficient of friction of a hydraulic brake system of a motor vehiclewith axle-individual pressure buildup. In addition, the inventionrelates to a system and a method for setting the target braking torqueof a hydraulic brake system for the pressure buildup of a motor vehiclewith individual axes in order to obtain a desired actual braking toque.

BACKGROUND

The coefficient of friction (also known as the Cp value) of a hydraulicbrake system, namely between the brake pad and the brake disk,determines the generation of the brake torque and it is proportional tothe brake pressure. Since only the brake pressure can be measured, it isimportant for a obtaining accurate knowledge of the brake torque on thewheels to estimate the coefficient of friction as accurately aspossible. The coefficient of friction can be calculated based onmeasuring the vehicle deceleration and the brake pressure when thevehicle parameters, such as vehicle mass, are known. There is also amethod for estimating coefficient of friction for which the knowledge ofthe vehicle mass is not required and according to which the longitudinaldeceleration generated by a friction brake is compared to the one whichis generated by means of an E-machine, whose accurate torque is known.

DE 35 02 050 A1 proposes to measure as a parameter of the braking torquethe temperature which is obtained in the braking device in the momentwhen the braking torque is generated and to evaluate it in an evaluationdevice.

DE 100 11 270 A1 discloses a method and a device for determining aparameter of a wheel brake which represents the relationship between thebraking torque and the brake pressure. The determination of the brakeparameter occurs individually for each wheel by calculatingwheel-specific variables such as wheel slippage, the wheel contactforce, the wheel brake pressure and the wheel radius.

DE 10 2011 085 984 A1 discloses a method for a determination of thecoefficient of friction in vehicles on individual wheels, wherein thefriction torque is determined according to a predefined torque curve atone wheel of the vehicle and in response to the wheel torque. Thecurrent coefficient of friction can be determined from the phase shiftbetween the wheel torque and from the rotational speed of the wheel.

DE 10 2014 226 290 teaches a method for adjusting or controlling a brakeactuation parameter BR(FZ) which either uses the clamping force F, orthe brake pressure PR, or the clamping path X (xs) of a vehicle brakewhich is provided with at least one braked wheel R within anelectro-hydraulic or electro-magnetic vehicle brake, which is fixed to achassis of the vehicle with a brake holder and which brakes the wheelsby means of friction pads according to the extent of the brake actuationBR(FZ), wherein the wheel circumferential force F (FU) resulting fromthe contact of the braked wheel with the read surface is measured andthe braking force F (FU) is influenced depending on the braking force asa function of the gradient of the wheel circumferential force F(ΔFU/Δs), and wherein the actual value of the regulation is the gradientof the wheel circumferential force F (ΔFU/Δs) and this actual value isadjusted by adjusting the magnitude of the brake actuation BR(FZ) to apredetermined target value TVR(OP(ΔFU/Δs), or to a target valueTUR(OP(ΔFU/Δs)+/−R(ΔFU/Δs).

From DE 10 2010 043 320 A1 are known devices and a method fordetermining a measured variable for a frictional force acting on a diskbrake of a motor vehicle. A sensor device arranged on the disk brakemeasures the displacement of the brake holder that is caused by theeffect of the braking force in a direction perpendicular to the axialdirection of the brake disk.

One measure for the effective braking torque is determined based on thedeformation resulting from the frictional force caused in a directionthat is tangential to the surface of the brake disk.

DE 10 2016 220 415 proposes a method for estimating the coefficient offriction of a hydraulic brake system of a motor vehicle, wherein thebrake torque is adjusted by means of an accurate actuator, thedeceleration of the vehicle or of the wheel is measured and thetransmission behavior determines the deceleration of the brake torque.Subsequently, a braking torque is set by means of the hydraulic brakesystem and the deceleration is measured. The actual brake torque can bedetermined and the coefficient of friction of the brake can be estimatedwith the inverse of the brake torque delay for a certain transmissionconduct.

The present method applies only to brake systems that are provided witha pressure buildup at the level of the main cylinder. In the case ofbrake systems with a pressure buildup for an individual axle, it is notpossible to infer the coefficient of friction of the individual axles.This is because this approach is based on a total vehicle coefficient offriction (based on a fixed ratio of the use of the axes, usuallyaccording to an adjusted distribution). However, with a pressure buildupfor individual axles, the distribution of the braking torque to theaxles can be varied. Different deviations from the standard coefficientof friction may then occur on the brakes of both axles. That is why itis not possible to infer the coefficient of friction on individual axlesfrom the response of the vehicle. In other words, when the total vehiclecoefficient of friction is based on a certain distribution, it is notclear which of the axles causes a deviation from a standard coefficientof friction and how large this deviation is.

SUMMARY

Based on this background, the objective is to provide a system and amethod for estimating the coefficient of friction of a hydraulic brakesystem with axle-individual pressure buildup of a motor vehicle withoutusing vehicle parameters such as for example the vehicle mass. A brakesystem with axle-individual pressure buildup acts on each axle of thevehicle separately.

Within the context of the present invention is presented a system forestimating a coefficient of friction of a hydraulic brake system withaxle-individual pressure buildup of a motor vehicle. In addition, amethod for estimating a coefficient of friction is proposed withaxle-individual pressure buildup of a motor vehicle.

Moreover, a method is proposed for adjusting a target braking torque ofa hydraulic brake system of a motor vehicle in order to obtain a desiredactual braking torque, as well as a system suitable for the method.

DETAILED DESCRIPTION

The invention provides a solution for estimating the coefficient offriction of a hydraulic brake system with axle-individual pressurebuildup of a motor vehicle, which can be obtained without the use ofvehicle parameters such as for example the vehicle mass. A brake systemprovided with axle-individual pressure buildup acts separately on eachaxle of the vehicle.

The method according to the invention makes it possible to determine thecoefficient of friction for the individual axles of the motor vehicle.Within the context of the invention it is possible to use adjusting andmeasuring systems that are as a rule available in the vehicle. Furtheradvantages and embodiment of the invention will be evident from thefollowing description.

The system according to the invention comprises at least one hydraulicbrake system with axle-individual pressure buildup which acts on a wheelor on an axle of a motor vehicle, as well as at least one other actuatorsystem, which can apply a braking torque with a higher adjustingpressure than the hydraulic brake system to the wheel or to the axle.Furthermore, the system according to the invention comprises at leastone sensor and one unit for calculating an estimated coefficient offriction from the sensor data.

In one embodiment, the system is provided with at least one actuatorsystem on each axle, which makes it possible to apply a braking torqueto the axle or to a wheel connected to the axle with a higher actuatingprecision than with the hydraulic brake system with an axis-individualpressure buildup.

In one embodiment, the other actuator system comprises at least one axleengine. In another embodiment, the other actuator system comprises atleast one EM single-wheel engine.

In the system according to the invention is contained at least onesensor that is suitable for example for measuring the vehicledeceleration. In one embodiment, the system comprises at least onesensor for the rotational speed of the wheel. In another embodiment, thesystem comprises at least one wheel speed sensor. In another embodiment,the system comprises at least one brake pressure sensor.

The method according to the invention for estimating the coefficient offriction of a hydraulic brake system with an axle-individual pressurebuildup of a motor vehicle comprises the following steps: a brakingtorque (target=current), which is applied via an actuator system andwhich provides a higher actuating precision than the hydraulic brakesystem (hereinafter also referred to as a “more accurate actuator” to afirst wheel or to a first axle, measured by means of the deceleration ofthe torque of the wheel or of the axle of the vehicle determining thetransmission conduct between the braking torque and the deceleration ofthe wheel or of the wheel or of the vehicle. The braking torque appliedto the first wheel or to the first axle via the hydraulic brake systemis measured and the deceleration of the wheel or of the axle or of themotor vehicle is determined. After that, using the inverse transmissionconduct between the braking torque and the deceleration of the wheel orof the axle or of the motor vehicle, the actual braking torque and theactual coefficient of friction of the hydraulic brake system is thuscalculated with the axle-individual pressure buildup for the first axleof the motor vehicle.

When the wheel brakes are coupled to an axle, for example hydraulically,the braking torque at the wheel corresponds to half of the brakingtorque at the axle. When the axles are coupled via the brake system, forexample by means of a distribution that is adjusted hydraulically, thebraking torque at the corresponding axle can be calculated with thisdistribution and with the total brake torque.

In one embodiment, the method according to the invention additionallycomprises the determination of the coefficient of friction of thehydraulic brake system with axle-individual pressure buildup for atleast one other axle of the motor vehicle.

One embodiment of the invention is based on the realization that theaxles must be considered separately. The axles must be thereforestimulated in a decoupled manner. A braking torque (target=actual) isset by means of an accurate actuator and the deceleration of the vehicleor the wheel deceleration is measured and the transmission conduct-wheeldeceleration is determined.

After that, a target brake torque is applied by means of the hydraulicbrake system separately, first at the first axle and then at least oneother axle, for example at the second axle, and the respectivedecelerations are measured. In this manner it is possible to estimatewith the inverse transmission conduct and torque-deceleration the actualbraking torque and thus also the coefficient of friction of the brakefor each axle. When the hydraulic braking torque is applied, adeceleration torque can be applied with an axial motor, for example tomaintain the driving stability, at the other axle or at the first axle.Since the deceleration torque is known with precision, it can then befurther calculated based on the calculated braking torque whether thisdeceleration torque is known with accuracy.

The desired braking torque usually differs from the actual brakingtorque due to an unknown coefficient of friction of the brake system.Other actuator systems are also known (for example EM motors forindividual wheels, or EM axle motor), which make it possible to apply abraking torque with a higher actuating precision than the brake system.The target brake torque thus corresponds well to the actual brakingtorque. A braking torque is adjusted at a first wheel or at a first axlevia the actuator system with a high actuating precision (target brakingtorque=actual braking torque) and the wheel deceleration or the vehicledeceleration is measured and the transmission conduct between thebraking torque and the wheel deceleration or vehicle deceleration isdetermined.

After that, a target braking torque is applied with the hydraulic brakesystem to the first axle and the vehicle deceleration or wheeldeceleration is measured and the actual torque of the friction brake ofthis axle is closed with the inverse transmission ratiotorque-deceleration. When the target torque and the nominal coefficientof friction are known, the actual coefficient of friction can beinferred as follows:

actual coefficient of friction=actual braking torque/target brakingtorque*nominal coefficient of friction.

As an alternative, the same actual coefficient of friction can becalculated by measuring the braking torque of the actual coefficient offriction:

actual coefficient of friction=actual braking torque/brake pressure

After that, the same procedure is used for a braking torque at anotheraxle of the motor vehicle, for example at the second axle, and thecoefficient of friction is determined for this axle.

The determination of the coefficient of friction for at least onefurther axle of the motor vehicle thus comprises the following steps:adjusting a braking torque at one wheel of a further axle or at afurther axle of the motor vehicle via an actuator system which providesa higher actuating precision than the hydraulic brake system, andmeasuring the deceleration of the wheel or of the axle or of the motorvehicle which is caused by the braking torque and determining thetransmission conduct between the braking torque and the deceleration ofthe wheel or of the axle or of the vehicle. After that, applying atarget braking torque to the wheel or the axle of a motor vehicle bymeans of the hydraulic brake system, measuring the deceleration of thewheel or of the axle or of the motor vehicle which is caused by thebraking torque and estimating the braking torque with the inverse of thepreviously determined transmission conduct between the braking torqueand the deceleration of the wheel or of the axle or of the motorvehicle, and finally calculating the coefficient of friction of thehydraulic brake system with axle-individual pressure buildup for theother axle of the motor vehicle.

For an accurate determination of the coefficient of friction it isadvantageous when an actuator system is available on each axle which isprovided with a higher actuating precision that the hydraulic brakesystem. However, it is also possible to determine the coefficient offriction of both axles of a vehicle provided with two axles with asystem in which another actuator system which has a higher actuatingprecision than the hydraulic brake system is provided only on one axle.In this embodiment, the measurement is carried out on the first axle andthe value of the second axle is calculated for example by taking intoaccount slipping.

In another embodiment is used that fact that the two axles of a motorvehicle have a different dynamic driving potential. In the case ofdeceleration, in particular the front axle is more stable and it canthus be impacted by a higher braking torque. Since the coefficient offriction on both axles cannot be estimated together, the coefficient offriction of the most stable axle is estimated first (which is to say abraking torque applied only to this axle). When this coefficient offriction is known, a braking torque can be applied to both axles and thesecond coefficient of friction is estimated based on a certaindistribution of the braking force. With this approach, it is notnecessary to apply a braking torque only to the (unstable) rear axle,since a stable braking force distribution can be used in order toestimate the coefficient of friction on the rear axle. When thehydraulic braking torque is applied, it is possible for example to applya deceleration torque at the other axle or at the first axle, forexample in order to maintain the driving stability. Since thisdeceleration torque is known with precision, it can be calculated fromthe calculated actual braking torque. Another advantage of thisembodiment is that an additional, highly accurate actuation system mustbe provided only at the front axle.

In this embodiment, a braking torque (target=actual) is set via anaccurate actuator, the deceleration of the vehicle or the wheeldeceleration is measured and the transmission conduct brakingtorque-deceleration is measured. After that, a target braking torque isapplied via the hydraulic brake system at first at the first axle,preferably the axle that has a higher dynamic driving potential, and thedeceleration is measured. Therefore, the braking torque and theacceleration can be estimated with the inverse transmission conduct forthe actual braking torque and the coefficient of friction of the brakecan thus be estimated for the first axle. At this point, the targettorque is applied with a determined ratio to both axles and thedeceleration is measured. In this manner, the actual braking torque andthus also the coefficient of friction are estimated with the inversetransmission conduct for the second axle with the torque-deceleration,as well as with the already estimated coefficient of friction of thefirst axle.

Due to the unknown coefficient of friction of the brake system, thetarget braking torque usually differs from the actual braking torque.Several actuator system (for example EM) are known, which can apply abraking torque with a higher precision than the braking system. Thetarget braking torque therefore corresponds well to the actual brakingtorque. A torque is adjusted by means of an accurate actuator (targetbraking torque=actual braking torque) and the vehicle deceleration orthe wheel deceleration is measured and the transmission conducttorque-deceleration is determined.

After that, a target braking torque is applied via the hydraulic brakesystem to the first axle and the vehicle or wheel deceleration ismeasured and the braking torque is closed with the inverse transmissionconduct-deceleration for the actual braking torque of the coefficient offriction of this axle. Since the target braking torque and the nominalcoefficient of friction are known, the actual coefficient of frictioncan be inferred as follows:

actual coefficient of friction=actual torque/target torque*nominalcoefficient of friction

As an alternative, the actual coefficient of friction can be calculatedby measuring the braking pressure:

actual coefficient of friction=actual torque/braking pressure.

At this point, a target braking torque is applied to both axles with adetermined ratio (for example with a stable distribution of the brakingforce) and the deceleration is measured. After that, the actual brakingtorque and thus also the coefficient of friction of the brake isestimated for the second axle with the inverse transmission conduct, aswell as with the already estimated coefficient of friction of the firstaxle and with the adjusted distribution of the actual braking torque,and the coefficient of friction of the brake is thus also determined forthe second axle.

The determination of the coefficient of friction of a hydraulic brakesystem with axle-individual pressure buildup for the second axle of amotor vehicle provided with two axles thus comprises the followingsteps: applying a target braking torque with a predetermineddistribution conduct to both axles of the motor vehicle via thehydraulic brake system, measuring the deceleration of the second axle orof the motor vehicle which is caused by the braking torque, andestimating the actual braking torque of the second axle via the inverseof the transmission conduct between the braking torque and thedeceleration of a wheel of the first axle, or of the first axle, or ofthe motor vehicle, as well as with the calculated coefficient offriction of the first axle and of the predetermined distribution conductof the applied target braking torque, and finally calculating thecoefficient of friction of the hydraulic braking system with individualpressure buildup for the second axle of the motor vehicle.

In many cases, one is not interested in the coefficient of friction, butin the relationship between the target and the actual braking torque ofthe brake system. The target braking torque of the brake system can bemultiplied by this factor per axle in order to obtain the desired torqueper axle. For this purpose, the actual braking torque of the brakesystem is determined for each axle in the same manner as described aboveand it is applied to the target braking torque of the brake system.

Another object achieved within the context of the present invention issetting a desired actual torque with a hydraulic brake system to a wheelor to an axle. In this case, the item of interest is not the coefficientof friction, but the ratio between the target braking torque and theactual braking torque of the hydraulic brake system per axle. As aquotient obtained from the target braking torque and the actual brakingtorque, the ratio corresponds to a factor with which the target brakingtorque of the brake system can be multiplied per axle in order to obtainthe braking torque per axle. For this purpose, the actual braking torqueof the braking system is determined per axle as shown above and it isapplied to the target braking torque of the brake system.

The object of the invention is therefore also a system and a method foradapting the target braking torque of a hydraulic brake system toaxle-individual pressure buildup of a motor vehicle in order to achievea desired actual braking torque at an axle of the motor vehicle. Thedesired actual braking torque in this case correspond to the originalbraking torque.

The method comprises the setting of a braking torque (target=actual) ata wheel or at an axle of the motor vehicle by means of an actuatorsystem which has a higher actuating precision than the hydraulic brakesystem, and the measurement of the deceleration of the wheel or of theaxle or of the vehicle caused by the braking torque, with a subsequentdetermination of the transmission conduct between the braking torque andthe deceleration of the wheel or of the axle or of the motor vehicle.Furthermore, the method comprises applying a target brake torque to thewheel or to the axle of the motor vehicle via the hydraulic brakesystem, measuring the deceleration of the wheel or of the axle or of themotor vehicle caused by the braking torque, and estimating the actualbraking torque by means of the inverse of the transmission conductbetween the braking torque and the deceleration of the wheel or axle.After that, the relationship between the target braking torque and theactual braking torque of the hydraulic brake system per axle iscalculated and the target braking torque of the hydraulic brake systemis multiplied per axle by the factor obtained in this manner in order toobtain a target braking torque, which generates an actual braking torquethat corresponds to the original target braking torque.

Furthermore, the invention provides a system for adjusting the targetbraking torque of a hydraulic brake system to axle-individual pressurebuildup of a motor vehicle to obtain a desired braking torque at anaxles. The desired actual braking torque in this case corresponds to theoriginal braking torque. The system comprises at least one hydraulicbrake system with axle-individual pressure buildup which acts on a wheelor on an axle of the motor vehicle, and at least one other actuatorsystem, which can apply a braking torque to the wheel or to the axle ata higher actuating precision than the hydraulic brake system.

The system comprises also at least one sensor, a unit for calculating anactual braking torque from the sensor data, and a unit for changing thetarget braking torque of the hydraulic brake system.

Example of other suitable actuator systems include axle motors and EMmotors for individual wheels. Suitable sensors are for example sensorsfor the rotational speed of the wheel, wheel speed sensors, sensors formeasuring vehicle deceleration, or brake pressure sensors.

It goes without saying that the features mentioned above can be used notonly in the respectively described combinations, but also in othercombinations or in isolation, without deviating from the scope of thepresent invention.

1. A system for estimating a coefficient of friction of a hydraulicbrake system, provided with an axle-individual pressure buildup of amotor vehicle, comprising: at least one hydraulic brake system withaxle-individual pressure buildup, which acts on a wheel or an axle of amotor vehicle; at least one other actuator system, which can apply abraking torque to the wheel or to the axle with a higher actuatingprecision than the hydraulic brake system with axle-individual pressurebuildup; at least one sensor; and a unit for calculating an estimatedcoefficient of friction from the sensor data.
 2. The system according toclaim 1, which is provided on each axle with at least one actuatorsystem, which can apply a braking torque to the axle or to the wheelconnected to the axle with a higher actuating precision than thehydraulic brake system with axle-individual pressure buildup.
 3. Thesystem according to claim 1, wherein the other actuator system comprisesat least one axle motor and/or at least one EM-individual wheel motor.4. The system according to claim 1, further comprising at least onewheel rotational speed sensor and/or at least one wheel speed sensorand/or at least one sensor for measuring a vehicle deceleration.
 5. Thesystem according to claim 1, further comprising at least one brakepressure sensor.
 6. A method for estimating a coefficient of friction ofa hydraulic brake system with axle-individual pressure buildup of amotor vehicle, comprising the following steps: a) setting a brakingtorque to a wheel of a first axle or to a first axle of the motorvehicle via an actuator system which has a higher actuating precisionthan the hydraulic brake system; b) measuring the acceleration of thewheel or of the axle of the motor vehicle caused by the braking torque;c) determining the transmission conduct between the braking torque andthe deceleration of the wheel or of the axle or of the motor vehicle; d)applying a target braking torque to the wheel or to the axle of themotor vehicle via the hydraulic system; e) measuring the deceleration ofthe wheel or of the axle or of the motor vehicle caused by the brakingtorque; f) estimating the target braking torque by means of the inverseof the transmission conduct between the braking torque and thedeceleration of the wheel or of the axle of the motor vehicle; g)calculating the coefficient of friction of the hydraulic brake systemwith the axle-individual pressure buildup for the first axle of themotor vehicle.
 7. The method according to claim 6, which in additioncomprises the determination of the coefficient of friction of thehydraulic brake system with axle-individual pressure buildup for atleast one other axle of the motor vehicle.
 8. The method according toclaim 7, wherein the determination of the coefficient of friction for atleast one other axle of the motor vehicle comprises at least thefollowing steps: h1) setting a braking torque to a wheel or to anotheraxle of the motor vehicle via an actuator system which has a higheractuating precision that the hydraulic brake system; i1) measuring thedeceleration of the wheel or of the axle of the motor vehicle caused bythe braking moment; j1) determining the transmission conduct between thebraking torque and the deceleration of the wheel or the axles of themotor vehicle; k1) applying a target braking torque to the wheel or tothe axle of the motor vehicle via the hydraulic brake system; l1)measuring the deceleration of the wheel, or of the axle, or of the motorvehicle caused by the braking torque; m1) estimating the actual brakingtorque by means of the inverse of the transmission conduct determined instep j1) between the braking torque and the deceleration of the wheel orof the axle or of the motor vehicle; n1) calculating the coefficient offriction of the hydraulic brake system with axle-individual pressurebuildup for the other axle of the motor vehicle.
 9. The method accordingto claim 7, wherein the motor vehicle is provided with two axles and theother axle is the second axle of the motor vehicle and the determinationof the coefficient of friction comprises the following steps: h2)applying a target torque with a predetermined distribution conduct toboth axles of the motor vehicle via the brake system; i2) measuring thedeceleration of the second axle or of the motor vehicle caused by thebraking torque; j2) estimating the actual braking torque with theinverse of the transmission conduct between the braking torque and thedeceleration of the wheel of the first axle, or of the first axle, or ofthe vehicle, as well with the coefficient of friction of the first axlecalculated in step g) and the predetermined distribution conduct of theapplied target braking torque, k2) determining the coefficient offriction of the hydraulic brake system with axle-individual pressurebuildup for the second axle of the motor vehicle.
 10. The methodaccording to claim 6, wherein the friction coefficient is calculatedfrom the target braking torque and the actual braking torque and thenominal coefficient of friction as follows:coefficient of friction=actual braking torque/target brakingtorque*nominal coefficient of friction.
 11. The method according toclaim 8, wherein the coefficient of friction is calculated from theactual braking pressure of the hydraulic brake system as follows:coefficient of friction=actual braking torque/braking pressure.
 12. Amethod for setting a target braking torque of a hydraulic brake systemwith axle-individual pressure buildup of a motor vehicle to achieve adesired actual braking torque at an axle of the motor vehicle,comprising the following steps: a) adjusting a braking torque at a wheelof the axle or at the axle of the motor vehicle via an actuator systemwhich has a higher actuating precision than the hydraulic brake system,b) measuring the deceleration of the wheel or of the axle or of themotor vehicle which is caused by the braking torque; c) determining thetransmission conduct between the braking torque and the deceleration ofthe wheel or of the axle of the motor vehicle, d) applying a targetbraking torque to a wheel or an axle of the motor vehicle via thehydraulic brake system; e) measuring the deceleration of the wheel or ofthe axle or of the motor vehicle which is caused by the braking torque;f) estimating the braking torque by means of the inverse of thetransmission conduct determined in step c) between the braking torque ofthe wheel or of the axle or of the motor vehicle; g) calculating theratio between the target braking torque and the actual braking torque ofthe hydraulic braking system for the axle; h) multiplying the targetbraking torque of the hydraulic braking system for the axle by thefactor obtained in order to obtain the target braking torquecorresponding to the desired braking torque.
 13. A system for setting atarget braking torque of a hydraulic braking system with axle-individualpressure buildup of a motor vehicle to a desired actual braking torque,comprising: at least one hydraulic brake system with axle-individualpressure buildup, which acts on a wheel or an axle of the motor vehicle,at least one other actuator system, which can apply a braking torque toa wheel or to an axle with a higher actuating precision; at least onesensor; a unit for calculating an actual braking torque from the sensordata; and a unit for changing the target braking torque of the hydraulicbrake system.
 14. The system according to claim 13, wherein the otheractuator system comprises at least one axle motor and/or at least one EMmotor for individual wheels.
 15. The system according to claim 13,further comprising at least one wheel rotational speed sensor and atleast one wheel speed sensor and/or at least one sensor for measuring avehicle deceleration.
 16. The system according to claim 13, furthercomprising at least one brake pressure sensor.